High-Level Interpretation of Urban Road Maps Fusing Deep Learning-Based Pixelwise Scene Segmentation and Digital Navigation Maps

Figure 13

Results in a scene with parking slots on the right and vegetation on the left. Even with a coarse detection of the road (Figure 13(b)), the map model fits well to the scene and add high-level information to the system.

(a) Input image

(b) Features detection

(c) CNN road classifier

(d) Map model